JPH0721852A - Wire delivering mechanism and wire delivering device including this mechanism - Google Patents

Abstract

PURPOSE:To provide a delivering device capable of surely delivering the end part of a wire to a robot hand with a high positioning precision. CONSTITUTION:A wire P held by a wire guide groove 31 is pulled out in parallel along the wire guide groove 31. The wire guide groove 31 is extended to both sides to provide guide holes 32, 33. The clamp claws C1, C2 of the cramp mechanism 90 of a robot hand RHA are entered into the guide holes 32, 33 to cramp the wire P, and then retreated from the guide holes 32, 33. The curving on the pulling side of the top end part of the wire P is arrested by a rubber plate 34 provided on the terminal part of the wire guide groove 31, and the wire P can be held in the substantially linear state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to a wire harness manufacturing apparatus and relates to an electric wire delivery mechanism for delivering an end of an electric wire to a hand of a robot.

[0002]

2. Description of the Related Art A wire harness to be mounted on an automobile or the like is constructed by bundling a plurality of electric wires cut into a predetermined size, has flexibility, is elongated in shape, and branches in a complicated manner. It is characterized by having a structure. And
In the manufacturing process of the wire harness, measuring the length of the electric wire, a length cutting step of cutting the electric wire into a predetermined length, a peeling step of peeling the end portion of the electric wire cut into a predetermined length, It includes a terminal crimping step of crimping the terminal to the end of the electric wire exposed by peeling, a wiring step of laying the electric wire having the terminal crimped on the end on the drawing board, and the like.

[0003]

In recent years, each manufacturing process of the wire harness has been automated. However, the wire harness manufacturing device that has been conventionally proposed requires a robot that can be moved biaxially and has been developed specifically for automating the length cutting, stripping, terminal crimping, and wiring. However, the equipment cost was very high and the equipment cost was large. Moreover, since the structure is complicated, the setup change work accompanying the change of the wire harness model is also very complicated, and there is a problem that it takes time and effort.

In addition, with regard to a certain kind of work up to the completion of the wire harness, there is one side inevitably that the work reliability is dependent on the assembly work by a human being, even from the reliability of the work. It was That is, at present, the wire harness manufacturing process includes a part automated by a robot and a part related to a human assembly line.

By the way, in the part which is automated by the robot, it is required to perform the process work at high speed in order to amortize the above-mentioned expensive equipment cost. Moreover,
Frequent setup change causes a loss of time and cost, and in order to avoid this, a lot is manufactured in one lot. In this way, various types and a large number of types manufactured at high speed by the robot are transported to the required positions on the assembly line by humans and arranged.

However, no matter how fast the automated machine is used as described above, the wire harness production speed is ultimately limited by the human feed speed of the assembly line. In addition, a large number of inventories manufactured by automated machines will be kept in the manufacturing process, which will also increase the manufacturing cost of the wire harness. That is, under the present circumstances where it is difficult to avoid assembling work by a person, it is inefficient to use the above-mentioned expensive and complicated automated machine.

Further, in the above-mentioned automatic machine,
Since length cutting, stripping, terminal crimping, and wiring are performed at multiple stations, it may be necessary to re-grip the ends of the wires when moving between stations. Then, for example, there is a possibility that an error may occur in the amount of peeling, the terminal crimping position, and the like. By the way, 1
A rotatable upper arm portion rotatable about an axis orthogonal to the one axis is provided on an axis-movable mount, and a rotatable forearm portion rotatable about an axis orthogonal to the one axis is provided on the rotatable upper arm portion. In addition, a general-purpose robot capable of uniaxial control has become inexpensive and has become widespread in recent years.

[0008] Therefore, the inventor of the present application uses the above-mentioned general-purpose robot capable of uniaxial control, and by using these general-purpose robots, with the front end and the rear end of the electric wire clamped, the length cutting, stripping, terminal crimping, and wiring are performed. Carry out the work at a single station, and send the assembly drawing board, in which the wiring of each wire harness has been completed by the robot in this way, to the assembly line by the person as it is, and carry out the wiring of the remaining wire harness. Therefore, we thought that it would be possible to reduce expensive equipment costs and unnecessary inventory, which were problems in the above-mentioned conventional automated machines, and to have equipment that is excellent in adaptability to high-mix low-volume production.

In order to realize this, in the state where the hand of the general-purpose robot as described above is easily grasped,
A delivery mechanism for holding the electric wire is required, which is capable of delivering the end of the electric wire to the hand of the general-purpose robot without warping or bending. In particular, the end of the cut wire (so-called free end).
Although it is liable to warp or the like, the delivery mechanism is required to deliver the free side end in a straight state.

Therefore, the present invention has been made based on such a technical background, and provides an electric wire delivery mechanism and an electric wire delivery apparatus capable of reliably delivering the end of an electric wire to a robot hand with high positioning accuracy. Is to provide.

[0011]

In order to achieve the above object, an electric wire delivery mechanism according to a first aspect of the present invention holds an end of an electric wire which is intermittently fed and cut, and which holds the end of the electric wire of a robot hand. An electric wire guide groove that guides the electric wire at the time of feeding, in the electric wire transfer mechanism for transferring to the clamp mechanism,
An electric wire guide groove for holding the electric wire in a state where the electric wire can be pulled out in parallel when the feeding is stopped, and an introduction concave portion formed by expanding a part of an intermediate portion of the electric wire feeding groove in the electric wire feeding direction, Introducing recesses for introducing the pair of clamp claws of the clamp mechanism to both side positions sandwiching the electric wire, and in the electric wire guide groove, provided in a portion on the downstream side of the introducing recess in the electric wire feeding direction. And a tip end bending prevention means for correcting the bending to the extraction side.

Further, the electric wire delivery device according to claim 2 is
The electric wire delivery mechanism according to claim 1, and the electric wire delivery device provided with the clamp mechanism for delivering an electric wire from the electric wire delivery mechanism, wherein the clamp mechanism includes:
When the electric wire is clamped by the clamp claws introduced into the introduction concave portion, a clamped portion bending prevention means for preventing the clamped portion of the electric wire from bending toward the extraction side is provided. .

Further, the electric wire delivery mechanism according to claim 3 is
An electric wire guide path that holds the end of an electric wire that is intermittently fed and cut, and transfers this to the clamp mechanism of the robot hand. An electric wire guide path for holding an electric wire in a state in which it can be pulled out in a direction along the electric wire guide path at the time of supply stop, and a coil spring for electric wire guide provided at a terminal end portion of the electric wire guide path, A coil spring having a central axis along the electric wire guide path and having a winding diameter that decreases toward the tip side of the electric wire is provided.

[0014]

According to the wire delivery mechanism of the first aspect of the present invention, the tip end bending prevention means provided at the terminal end of the wire guide groove prevents the tip end of the wire from bending toward the pull-out side and is substantially straight. Can be kept in the state. Then, the clamp claws of the robot are introduced to both sides of the wire in the introduction recess, sandwiching the wire, clamp the end of the wire, and then retract from the introduction recess so that the wire remains in a straight-line guide groove. Can be removed from the delivery and delivery is completed.

According to the electric wire delivery device of the second aspect,
When clamped, the bending prevention means of the tip of the wire prevents the bending of the tip of the wire toward the extraction side, and the bending prevention means of the clamped part of the clamp mechanism clamps the wire to be clamped. The bending of the part toward the extraction side is prevented. That is, at two positions along the feeding direction of the electric wire, the bending of the electric wire toward the extraction side is prevented, so that the electric wire when clamped is surely in a substantially straight state.

According to the wire delivery mechanism of the third aspect, the wire is held in a substantially straight state by being guided by the coil spring whose winding diameter becomes smaller toward the tip side. Then, the clamp mechanism of the robot can clamp the end portion of the electric wire held in the substantially straight state by moving along the central axis of the coil spring while contracting the coil spring.

[0017]

Embodiments will be described in detail below with reference to the accompanying drawings showing embodiments. Overall Schematic Configuration FIG. 2 is a plan view showing a schematic configuration of a wire harness production line to which an electric wire delivery mechanism according to an embodiment of the present invention is applied. In this wire harness production line, length cutting and peeling are performed. , A single station S for terminal crimping and wiring is set, and at this station S, some wire harnesses are automatically laid on the assembly drawing board D by the robot hands RHA, RHB. The assembling drawing board D is directly sent to the assembling line by the manual operation of the person M.

Referring to FIG. 3, which is a schematic plan view of the station S, the station S includes a plurality of supply devices 1.
A plurality of habit removing mechanisms 20 for removing the winding habits of the plurality of types of electric wires P fed out from 0, and an electric wire delivery for holding the respective electric wires P in a parallel state and delivering them to the clamp mechanism of the robot hands RHA and RHB. An electric wire selection table 40 including a mechanism 30 and a moving mechanism 50 that moves the electric wire selection table 40 in directions X1 and X2 orthogonal to the electric wire feeding direction Y (a partial cross-sectional side view of the electric wire selection table 40). And the desired electric wire P selected from the electric wire selection table 40, the desired electric wire P is clamped and required in order to perform the steps of measuring, cutting, stripping, crimping the terminal, and wiring. The pair of robot hands RHA and RHB to be moved to a position, a cutting device 60 having a pair of cutting blades sandwiched from the left and right, a peeling device 70, a press ram 81 and a plurality of A terminal crimping apparatus 80 having an applicator 82 is provided.

Further, in this manufacturing line, as shown in FIG. 4, the above-mentioned assembling plate D is circulated to the station S and an assembling line by a person, such as a belt conveyer or the like, which is a plate conveying mechanism (not shown). Is provided. In this board transporting mechanism, the assembly board D is sent in the forward direction L1 and then in the reverse direction L2 below the assembly board D. This saves space. There is. Furthermore, the robot hands RHA, RHB
Moves to a fixed clamp position in order to clamp the electric wire P, and the electric wire selection table 40 slides to select the electric wire. Robot hand RHA
Is for clamping the cut front end of the electric wire (so-called A end), and the robot hand RHB is for clamping the rear end of the electric wire (so-called B end). The electric wire delivery mechanism 30 provided in the electric wire selection table 40.
An electric wire delivery device W is constituted by a clamp mechanism 90 that includes the clamp claws C1 and C2 of the robot hand RH and receives an electric wire from the electric wire delivery mechanism 30.

Further, referring to FIG. 3, each of the applicators 81 can be moved back and forth toward the press ram 81 by a guide rail 85 provided on the frame 84, and the frame 84 should be advanced. A guide rail 83 slidably supports the applicator 81 to move it to a predetermined position. The required terminal strip T is supplied to each applicator 81.

With reference to FIG. 1, a feature of this embodiment is that the wire delivery mechanism 30 is provided with a rubber plate 34 as a tip bending prevention means, and the clamp mechanism 90 of the robot hand RHA is covered. A stopper piece C3 serving as a clamp portion bending prevention means is provided so that the end portion of the electric wire P that is intermittently fed and cut is delivered to the clamp mechanism 90 of the robot hand RHA in a substantially straight state. There is something I did.

Feeding Device Referring to FIG. 5, the feeding device 10 has a circular pedestal 11 and
The columns 12 fixed to the center of the pedestal 11, the locking ring 13 fixed to the upper end surface of the columns 12, and the lower portion of the columns 12 and the outer edge of the pedestal 11 are radially arranged. Plural pairs of bar members 14a, 1 on which a loop-shaped electric wire bundle is placed
4b, a groove 15 formed between each pair of rods 14a and 14b, an upper end is locked by the locking ring 13, and a lower end is engaged by each groove 15 so as to be movable back and forth in the radial direction. It has a well-known structure including a plurality of elastic guide bars 16. Each supply device 10 inserts a center hole of a ring-shaped electric wire bundle from the upper end of the guide rod 16 along the guide rod 16 and prevents the electric wire bundle PR from collapsing on the outer peripheral surface of the guide rod 16 while also preventing the electric wire bundle PR from collapsing. The electric wire P is unwound from the center hole side of the electric wire P. The delivered electric wire P is guided to the electric wire selection table 40 side through the cone-shaped guide 17 and the roller 18.

Electric Wire Selection Table Referring to FIGS. 1 and 3, an electric wire selection table 40 is provided on a table body 41 slidably supported in X1 and X directions in FIG. 3, and on the upper surface of the table body 41. Also, the above-mentioned habit removing mechanism 20 including the first and second warp correction mechanisms 21 and 22 for removing the warp of each electric wire P, and the reverse running for preventing each electric wire P from returning in the direction opposite to the feeding direction Y. The prevention mechanism 42 and the above-mentioned electric wire delivery mechanism 30 that holds the removed electric wire P in a state in which it can be delivered to the clamp mechanism 90 of the robot hand RHA and delivers it to the robot hand RHA.

Referring to FIG. 1, a base 43 is fixed to the lower surface of the table body 41, and the base 43 is slidably attached to a mount 45 via a known linear motion bearing 44. The moving mechanism 50 is an air cylinder that moves the table body 41 forward and backward in the X1 direction and the X2 direction (see FIG. 3) via the base 43. With reference to FIG. 1, each electric wire P fed from the supply device 10 is inserted between a pair of parallel guide bars 46 a and 46 b which are vertically spaced apart by a predetermined distance, and after being inserted into a guide hole 47, It is introduced into the habit removing mechanism 20 described above, inserted into the guide hole 48 through the reverse run preventing mechanism 42, and then guided to the wire delivery mechanism 30.

Referring to FIGS. 1 and 7, the reverse running prevention mechanism 42 has a plate-like support 42a fixed to the upper surface of the table body 41 and a shaft 42e as a center above the support 42a. A plate-shaped braking member 42b rotatably supported and capable of braking the backward run of the electric wire by an arcuate pressing surface 42c formed on the lower end surface, and this braking member 4
2b and a predetermined portion of the support body 42a, and a compression coil spring 43d as a biasing means for biasing the rotation so that the braking member 42b slightly contacts the electric wire. There is.

In the reverse running preventing mechanism 42, as shown in FIG. 1, the arcuate pressing surface 4 of the braking member 42b is usually used.
The corner of 2c is lightly contacted with the electric wire, and in this state, smooth feeding of the electric wire is allowed. On the other hand, the tension due to the elastic biasing force acts on the electric wire of the habit removing mechanism 20, which is sandwiched in a meandering manner between the fixed side roller group 23a and the elastically biased movable side roller group 23b, This tension acts as a force to pull the electric wire reaching the electric wire delivery mechanism 30 back. However, when the electric wire tries to be pulled back by the above-mentioned tension, the braking member 42b is rotated counterclockwise in the drawing, and the arcuate pressing surface 42c strongly presses the electric wire. , It is possible to prevent the electric wire from being pulled back. Therefore, it is possible to reliably avoid that the electric wire that has already reached the electric wire delivery mechanism 30 side is pulled back to cause the positional deviation.

Peculiarity Removing Mechanism Referring to FIG. 6, each habit removing mechanism 20 includes a first warp correcting mechanism 21 and a second warp correcting mechanism 22.
The first warp correction mechanism 21 has an axis line along a direction orthogonal to the upper surface 41a as a predetermined surface of the table main body 41, and causes the electric wire P to travel in a meandering manner, and has two alternating rows of first rollers. 23, the table body 4 of the electric wire P
The warp in the direction parallel to the upper surface 41a of 1 (hereinafter referred to as the lateral direction) is corrected. In the second warp correction mechanism 22, the second roller group 24, which has an axis parallel to the surface of the table body 41 and is arranged in two rows, which are staggered from each other, causes the wire P to intersect in a direction orthogonal to the upper surface 41a of the table body 41 (hereinafter Correct the warp in the vertical direction. That is, the warps in the two directions orthogonal to each other in the plane orthogonal to the traveling direction of the electric wire P are removed.

As described above, the first warp correction mechanism 21 has the first roller group 23 having the axis line orthogonal to the upper surface 41a of the table body 41, and has a wide width in the lateral direction. As a result of the first warp correction mechanism 21 being staggered before and after in the feeding direction Y of the electric wire P, the width space of the electric wire selection table 40 in the direction in which the electric wires P are arranged is reduced. There is. On the other hand, the second warp correction mechanism 22 having a small width in the lateral direction is arranged along the direction in which the electric wires P are arranged, whereby the electric wire selection table 40.
The width space of the wire P in the direction along the feeding direction Y is reduced.

Further, referring to FIGS. 1 and 3, each of the roller groups 23 and 24 has a table main body 41 in an X1 direction and an X direction.
Movable side roller groups 23b and 24b as one group of roller groups rotatably supported by a slide plate 25 slidably supported in two directions, and a table body 41.
And fixed side roller groups 23a and 24a as the roller group of the other row, which are rotatably supported by the table and fixed in position with respect to the table body 41.

Further, referring to FIGS. 7 and 8, each movable side roller group 2 of each first warp correction mechanism 21 arranged in the lateral direction.
The slide plate 25 supporting 3b is connected to the connecting member 2 collectively.
6 is fixed to the connecting member 26, and an operating mechanism 27 including an operating lever 27a and a cam mechanism 27b is connected to the connecting member 26. The operating mechanism 27 rotates the rotating lever 27a to move the connecting member 26 back and forth, thereby advancing and retracting the connecting member 26 so that the wire holding position close to the fixed roller group 23a [Fig.
[See (a)] and the fixed-side roller group 23a are widened to allow the wire to be taken out from the holding release position [FIG. 8 (b)].
Then, the movable side roller groups 23b are collectively displaced. In this way, since the movable side roller group 23b can be collectively displaced to the holding release position, setup change work such as changing the type of electric wire can be performed very efficiently.

The flange portions 26 of the connecting member 26 are provided at a plurality of positions corresponding to the slide plates 25.
Between the a and the slide plate 25, each movable roller group 23b is elastically moved toward the fixed roller group 23a side while the movable roller group 23b is in the electric wire holding position shown in FIG. 8A. A compression coil spring 28 that biases the magnetic field is interposed. The coil spring 28 can absorb the tension fluctuation of the electric wire P generated when the electric wire P travels in a meandering manner so as to sew between the fixed side and movable side roller groups 23a and 23b. . The second warp correction mechanism 22
The movable roller group 24b is also elastically biased toward the fixed roller group 24a by a coil spring (not shown).

The habit removing mechanism 20 is composed of the electric wire delivery mechanism 3
It is arranged on the wire selection table 40 equipped with 0, and habit removal is performed immediately before delivery, so compared to the case where habit removal is performed at a position distant from delivery in the wire feed route to delivery. It is possible to deliver a quirky electric wire.
Further, both the habit removing mechanism 20 and the electric wire delivery mechanism 30 can be maintained on the electric wire selection table 40, which facilitates the maintenance.

Electric Wire Delivery Mechanism Referring to FIG. 1 and FIG. 7, the electric wire delivery mechanism 30 has the electric wires that have passed through the habit removing mechanism 20 and the reverse run prevention mechanism 42 introduced through the guide holes 48. The electric wire delivery mechanism 30 is formed on the upper surface 41a of the table main body 41 of the electric wire selection table 40 and has an electric wire guide groove 31 for guiding and holding the electric wires P and an electric wire guide groove 31 spread to both sides. As the introduction concave portions for introducing the two pairs of the clamp claws and the introduction holes 32 and 33 as the introduction concave portions, and for preventing the warp of the tip end portion of the electric wire P as the tip end bending prevention means. And a rubber plate 34 of.

Referring to FIG. 11, the wire guide groove 31 described above is used.
Is introduced into the three parts 31a, 3 by the introduction holes 32, 33.
It is divided into 1b and 31c. Each introduction hole 32, 33
Is the clamp claw C1, of the robot hand RHA, RHB.
Each of the guide holes 32 has a shape corresponding to the shape of C2, and the introduction hole 32 on the front side in the wire feeding direction Y is an elongated hole extending along the wire feeding direction Y. The introduction hole 33 is a circular hole.

Rubber plate 3 as the above-mentioned tip bending prevention means
4 is an electric wire guide groove 31 on the upper surface 41a of the table body 41.
The wire is protruded from both side positions sandwiching the wire so as to cover the wire guide groove 31 from above, so that the wire P can be prevented from warping upward by the elastic repulsive force, and the clamp claws C1 and C1 of the robot hand. When the electric wire P clamped by C2 is pulled out upward, this can be allowed by deformation. Instead of the rubber plate 34, a resin plate having a predetermined elasticity can be used.

Robot Hand Referring to FIG. 9, the robot hands RHA and RHB have a main body 91 fixed on a mount 56 slidable on a slide rail 57, and a base end of the main body 91 having a vertical axis. A rotatable upper arm portion 92 rotatably provided around
The rotating upper arm portion 92 has a base end portion rotatably provided around a vertical axis, and a rotating front arm portion 93, and a distal end portion of the rotating forearm portion 93, along with expansion and contraction of a rod 94a of the air cylinder 94. Clamp mechanism 90 supported up and down
It has and.

With reference to FIGS. 10 and 11, each clamp mechanism 90 has a pair of main clamp claws C1 introduced into the introduction hole 32 and a pair of auxiliary clamp claws C2 introduced into the introduction hole 33. Clamping mechanism C and rod AC1a,
Air cylinders AC1 and AC2 for expanding and contracting the clamp claws C1 and C2 of the clamp mechanism C by advancing and retracting the AC2a are included.

The main clamp claw C1 provided in the clamp mechanism 90 of each robot hand RHA, RHB clamps an electric wire with a width of about 30 to 50 mm, and the sub clamp claw C2 fixes the electric wire to 5 to 10 mm. It is to be clamped with a certain width. Further, the clamp mechanism 90 of the robot hand RHA has a front end portion (A end) where the electric wire P is cut.
Therefore, a stopper plate C3 as a clamped portion bending prevention means is fixed to one front end surface of the pair of main clamp claws C1 of the clamp mechanism 90 of the robot hand RHA. The stopper plate C3 functions to prevent the clamped portion of the electric wire P from being bent upward when the electric wire P is clamped. Therefore, when the electric wire P is clamped, the tip end portion of the electric wire P is prevented from being bent upward by the electric wire delivery mechanism 30, and the clamped portion slightly rearward of the tip end portion of the electric wire P is moved upward by the stopper plate C3. Will be prevented from bending. That is, since the tip of the electric wire P that is most likely to be warped or bent is corrected at two positions separated by a predetermined distance in the longitudinal direction of the electric wire P, the end of the electric wire P in a straight state in which the warp or the like is surely removed. Can be clamped.

The predominantly FIG outline operation in schematic operation in the station S 1
2, it demonstrates based on FIG. 1) First, the electric wire selection table 40 is slid in the X1 direction or the X2 direction by the moving mechanism 50, and a desired electric wire P is selected from the plurality of electric wires P held by the electric wire delivery mechanism 30 of the electric wire selection table 40. It is moved to the clamp position by the hand RHA or RHB. 2) One robot hand RHA that has moved to the clamp position as shown in FIG.
And, as shown in FIG. 12C, after the front end portion (so-called A end) of the electric wire P is clamped and received from the electric wire delivery mechanism 30, 3) While pulling out the electric wire P from the electric wire selection table 30, A predetermined distance is moved along the feeding direction Y to perform the scale adjustment (see FIG. 13A), and 4) the other robot hand RH that has moved in this state.
B (see FIG. 13B) clamps the rear end portion of the electric wire P (so-called B end) [see FIG. 13C], and 5) cuts by the cutting device 60. As a result, the A and B ends of the cut electric wire P are clamped by the robot hands RHA and RHB, respectively. 6) Referring to FIG. 3, thereafter, the robot hand RHA
However, after the A end is moved to the peeling device 70 and the peeling is performed, it is moved to the terminal crimping device 80 to crimp the terminal to the A end. 7) Next, the robot hand RHB strips off the B end 7
After being moved to 0 and stripped, the terminal crimping device 80
, And crimp the terminal to the B end. As a result, the terminals are crimped to both ends of the electric wire P. 8) In this state, after the robot hand RHA clamps the A end to the required jig D1 corresponding to the assembly drawing board D,
After releasing the clamp, the robot hand RHB
After the end is clamped to the corresponding required jig D1, the clamp is released. 9) Both robot hands RHA and RHB return to their home positions and the one cycle process is completed.

In the case of a relatively long electric wire, after the peeling of the A end and the crimping of the terminal are completed, the measurement and cutting are performed.
The B end is stripped and the terminals are crimped. That is, the operation is performed in the order of 3), 6), 4), 5), 7). This is the robot hand RHA
This is to reduce the moving distance of. Then, in this station S, by repeating the above operations 1) to 9), the wiring harnesses are laid one by one, and the assembly drawing board D after the wiring by the robot is finished, By the above-mentioned board conveying mechanism, it is conveyed to an assembly line by a person.

According to this embodiment, the rubber plate 34 provided at the end portion of the wire guide groove 31 prevents the distal end of the wire P from bending toward the extraction side and holds the wire P in a substantially straight state. In this state, the ends of the electric wire P can be pulled out from the electric wire guide groove 31 and transferred by the clamp claws C1 and C2 of the robot hand RHA in a substantially straight state.

Moreover, the stopper plate C3 of the robot hand RHA prevents the electric wire P from being warped upward by the clamped portion. Therefore, at the two positions along the feeding direction Y of the electric wire P by the rubber plate 34 and the stopper plate C3, the bending of the electric wire P toward the extraction side is prevented, and as a result, the electric wire P when being clamped is surely secured. Then, it is made almost straight. Therefore, the end portion of the electric wire P can be surely delivered in a straight state, and in the stripping step or the terminal crimping step, the stripping failure or the terminal crimping failure occurs due to the shift of the wire clamp position. Can be prevented.

FIG. 14 shows the essential parts of another embodiment of the wire delivery mechanism of the present invention. Referring to the figure, in this embodiment, the table main body 410 is provided with a cylindrical electric wire guide path 310 instead of the electric wire guide groove, and the end surface 410a of the table main body 410 has a coil spring for electric wire guide. C
The electric wire delivery mechanism 300 is configured by providing S. This coil spring CS has its central axis C
S1 is routed along the electric wire guide path 310 and the electric wire P
The winding diameter is reduced toward the tip side of. Thereby, the coil spring CS can hold the end portion of the electric wire in a substantially straight state. Then, the clamp mechanism of the robot is configured to contract the coil spring CS while the axis CS1
Along the direction of 410a [Fig. 14
14 (b) from the state of (a)], the electric wire P held by the coil spring CS.
The ends of can be clamped. Also in this embodiment, the end portion of the electric wire P can be clamped by the clamp mechanism 900 of the robot hand and transferred in a substantially straight state.

The present invention is not limited to the above embodiments, and various design changes can be made without changing the gist of the present invention.

[0045]

As described above, according to the electric wire delivery mechanism of the first aspect, the bending end portion of the electric wire is bent toward the extraction side by the tip end bending prevention means provided at the terminal end portion of the electric wire guide groove. You can prevent it and keep it in a substantially straight state,
In this state, the end of the electric wire can be pulled out from the electric wire guide groove by the clamp claw of the robot hand in a substantially straight state, and the electric wire can be delivered with high positioning accuracy and reliably.

According to the second aspect of the present invention, there is provided the electric wire delivery device which is arranged along the wire feeding direction by the tip end bending prevention means of the electric wire delivery mechanism and the clamped portion bending prevention means of the electric wire delivered mechanism. At the position, the electric wire is prevented from bending toward the extraction side, so that the electric wire when clamped is surely made substantially straight. Therefore, the end portion of the electric wire can be delivered more surely in the straight state.

According to the wire delivery mechanism of the third aspect, the end portion of the wire can be held in a substantially straight state by the coil spring whose winding diameter becomes smaller toward the tip side. In a substantially straight state, the end portion of the electric wire can be clamped by the clamp mechanism of the robot and passed.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional side view of an electric wire delivery mechanism according to an embodiment of the present invention.

FIG. 2 is a schematic plan view of a wire harness manufacturing line as a mixing line of a robot and a person.

FIG. 3 is a schematic plan view showing a robot assembly station of the wire harness manufacturing line.

FIG. 4 is a schematic side view of the wire harness production line, showing the feeding direction of the assembly board.

FIG. 5 is a schematic perspective view of an electric wire supply device.

FIG. 6 is a schematic plan view of a habit removal mechanism of an electric wire selection table.

FIG. 7 is a schematic plan view of a habit removal mechanism and an electric wire delivery mechanism of an electric wire selection table.

8 is a sectional view taken along line VIII-VIII of FIG.
(A) shows a state where the roller group holds the electric wire,
(B) shows a state in which the roller group has released the electric wire holding.

FIG. 9 is a schematic perspective view of a robot hand as a wire delivery mechanism.

FIG. 10 is a schematic perspective view of a clamp mechanism of a robot hand.

FIG. 11 is a schematic perspective view showing a state in which the clamp claw is introduced into the introduction hole of the wire delivery mechanism.

FIG. 12 is a schematic cross-sectional view sequentially showing a delivery operation of the robot hand to the clamp mechanism.

13A and 13B are schematic cross-sectional views sequentially showing a delivery operation of the robot hand to the clamp mechanism.

FIG. 14 is a schematic sectional view of an electric wire delivery mechanism according to another embodiment of the present invention.

[Explanation of symbols]

 P electric wire Y electric wire feeding direction RHA, RHB robot hand 20 habit removing mechanism 21 first warp correcting mechanism 22 second warp correcting mechanism 23 first roller group 24 second roller group 23a fixed side roller group (other side Row roller group) 23b Movable roller group (roller group in one row) 27 Operation means 30,300 Electric wire transfer mechanism 31 Electric wire guide groove 32, 33 Introduction hole (introduction recess) 34 Rubber plate (tip bending prevention means) 40 wire selection table 41 table body 90,900 clamp mechanism C1 main clamp claw C2 sub-clamp c3 stopper plate (clamped part bending prevention means) 310 wire guide path CS coil spring

Claims (3)

[Claims] 1. A wire guide groove for holding an end portion of an electric wire which is intermittently fed and cut and for delivering the cut wire to a clamp mechanism of a robot hand, which guides the electric wire at the time of feeding. And a wire guide groove for holding the wire in a state where it can be removed in parallel when the feeding is stopped, and an introduction recess formed by expanding a part of an intermediate portion of the wire guide groove in the wire feeding direction to both sides. In addition, the pair of clamp claws of the clamp mechanism are provided in the introduction recess for introducing the pair of clamp claws to both sides of the wire, and the wire guide groove is provided in a portion on the downstream side of the introduction recess in the wire feeding direction. Of the tip of
An electric wire delivery mechanism comprising a tip end bending prevention means for correcting bending to the extraction side. 2. An electric wire delivery mechanism according to claim 1, and an electric wire delivery device provided with the clamp mechanism for delivering an electric wire from the electric wire delivery mechanism, wherein the clamp mechanism is introduced into the introduction recess. An electric wire delivery device, comprising: a clamped portion bending prevention means for preventing bending of the clamped portion of the electric wire toward the extraction side when the electric wire is clamped by the clamp claw. 3. An electric wire guide path for holding an end of an electric wire that has been intermittently fed and cut and delivering the electric wire to a clamp mechanism of a robot hand, which guides the electric wire during feeding. And an electric wire guide path for holding the electric wire so that the electric wire can be pulled out in the direction along the electric wire guide path when the feeding is stopped, and an electric wire guide coil provided at the end portion of the electric wire guide path. An electric wire delivery mechanism, comprising a coil spring having a central axis extending along the electric wire guide path and having a winding diameter that decreases toward the tip side of the electric wire.